Information processing apparatus, method, and storage medium for presenting information for calibration

ABSTRACT

An information processing apparatus includes a first generation unit configured to generate deviation data for each of parameters of respective apparatuses relating to three-dimensional measurement, a second generation unit configured to generate deviation data based on a captured image of a target acquired using the parameters and a registration image of the target, an acquiring unit configured to acquire similarity between the deviation data generated by the second generation unit and the deviation data for each of the parameters generated by the first generation unit, and a presentation unit configured to present presentation information relating to calibration of the parameters based on the similarity.

BACKGROUND Field of the Disclosure

The present disclosure generally relates to parameter calibration and,more particularly, to an information processing apparatus, a method anda storage medium for presenting information for calibration.

Description of the Related Art

In the basic technology of three-dimensional image measurement, apattern light projected from a projector is reflected by a surface of ameasurement target object, and a camera picks up an image of thereflected light. Further, an information processing apparatus calculatesa distance from the camera to the measurement target object based on theprinciple of a triangulation method. At this time, a plurality ofparameters such as a position of a principle point of an image sensingsurface of the camera, a distance to a focal surface of a lens,distortion coefficients of the lens, and a position and attitude of anorigin of the camera are used to calculate the distance.

These parameters are estimated by the image processing apparatus and thelike in calibration. For example, a focal length, the position of theprinciple point, and the distortion coefficients of the lens that areintrinsic parameters of the camera are determined by a calibrationtechnology discussed in Japanese Patent Application Laid-Open No.2000-350239.

The parameters are varied due to, for example, oscillation of theapparatus, variation with time, or contact to the apparatus duringoperation adjustment. The calibration is done at this time, but there isno method of easily identifying parameters for calibration.

SUMMARY

According to one or more aspects of the present disclosure, aninformation processing apparatus includes a first generation unitconfigured to generate deviation data for each of parameters ofrespective apparatuses relating to three-dimensional measurement, asecond generation unit configured to generate deviation data based on acaptured image of a target acquired using the parameters and aregistration image of the target, an acquiring unit configured toacquire similarity between the deviation data generated by the secondgeneration unit and the deviation data for each of the parametersgenerated by the first generation unit, and a presentation unitconfigured to present presentation information relating to calibrationof the parameters based on the similarity.

Further features of the present disclosure will become apparent from thefollowing description of exemplary embodiments with reference to theattached drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is diagram illustrating an example of a hardware configuration ofan information processing apparatus according to one or more aspects ofthe present disclosure.

FIG. 2 is a diagram illustrating an example of a functionalconfiguration of the information processing apparatus according to oneor more aspects of the present disclosure.

FIG. 3 is a diagram illustrating an example of presentation on a displayaccording to one or more aspects of the present disclosure.

FIGS. 4A and 4B are flowcharts illustrating an example of informationprocessing according to one or more aspects of the present disclosure.

FIG. 5 is a diagram illustrating an example of a system configuration ofa three-dimensional measurement system according to one or more aspectsof the present disclosure.

DESCRIPTION OF THE EMBODIMENTS

Exemplary embodiments of the present disclosure are described below withreference to the drawings.

A first exemplary embodiment is described. FIG. 1 is a diagramillustrating an example of a hardware configuration of an informationprocessing apparatus 100 according to one or more aspects of the presentdisclosure.

The information processing apparatus 100 includes, as a hardwareconfiguration, a central processing unit (CPU) 10, a memory 11, an inputapparatus interface (I/F) 12, a display apparatus I/F 13, an audiooutput apparatus I/F 14, and an image pickup apparatus I/F 15.

The CPU 10, which may include one or more memories, one or moreprocessors, circuitry, or a combination thereof, may control the entireinformation processing apparatus 100. The memory 11 stores data forprocessing of the first exemplary embodiment described below, such asinstructions, a program, an image, a parameter, or the like. The inputapparatus I/F 12 is an interface that connects an input apparatus to theinformation processing apparatus 100. Examples of the input apparatusinclude a mouse described below. The display apparatus I/F 13 is aninterface that connects a display apparatus to the informationprocessing apparatus 100. Examples of the display apparatus include adisplay described below. The audio output apparatus I/F 14 is aninterface that connects an audio output apparatus to the informationprocessing apparatus 100. Examples of the audio output apparatus includea speaker described below. The image pickup apparatus I/F 15 is aninterface that connects an image pickup apparatus to the informationprocessing apparatus 100. Examples of the image pickup apparatus includea camera described below.

The units described throughout the present disclosure are exemplaryand/or preferable modules for implementing processes described in thepresent disclosure. The term “unit”, as used herein, may generally referto firmware, software, hardware, or other component, such as circuitryor the like, or any combination thereof, that is used to effectuate apurpose. The modules can be hardware units (such as circuitry, firmware,a field programmable gate array, a digital signal processor, anapplication specific integrated circuit or the like) and/or softwaremodules (such as a computer readable program or the like). The modulesfor implementing the various steps are not described exhaustively above.However, where there is a step of performing a certain process, theremay be a corresponding functional module or unit (implemented byhardware and/or software) for implementing the same process. Technicalsolutions by all combinations of steps described and units correspondingto these steps are included in the present disclosure.

The CPU 10 executes processing based on instructions or a program storedby the memory 11, which realizes a functional configuration of theinformation processing apparatus 100 illustrated in FIG. 2, processingof flowcharts illustrated in FIGS. 4A and 4B, and the like.

The information processing apparatus 100 presents deviation ofparameters from parameters at the time of calibration with regard torespective measurement apparatuses of a three-dimensional measurementsystem. The three-dimensional measurement system measures a position andattitude of a target object using an image. The information processingapparatus 100 generates a range image using values that are obtained byadding (or subtracting) a slight value within a linear approximationrange to each of the parameters relating to three-dimensionalmeasurement. The information processing apparatus 100 also generates arange image using normal parameter values not subjected to addition orsubtraction. The information processing apparatus 100 generates, as adeviation map, two-dimensional deviation for each of the parametersassociated with variation, based on the range image generated with thenormal parameters and the range image generated with the added orsubtracted parameters, and retains the deviation map. An image, that ismeasured while the measurement apparatus or the like is deviated, isslightly deviated from an image in a correctly-calibrated state (aregistration image), and the deviation range is linearly approximated.When the deviation range can be approximated, the information processingapparatus 100 calculates correlation between the deviation mappreviously calculated for each of the parameters and the deviation mapgenerated from the measured captured image and the registration image,thereby estimating that the parameter having large correlation isdeviated. The information processing apparatus 100 performs suchestimation and presentation, which allows a user to acquire informationthat identifies how which parameter of which apparatus is deviated,among the measurement apparatuses such as a camera and a projector ofthe three-dimensional measurement system. As a result, for example, itis possible to reduce a time for recalibration and failure recovery ofthe measurement apparatuses. The deviation map is an example ofdeviation data. The functional configuration of the informationprocessing apparatus 100 is described in detail with reference to FIG.2.

A shape holding unit 110 holds a shape of a measurement target object inthe memory 11. In this example, the shape is a position of a surface ofa target object observed through the camera of the three-dimensionalsystem, and it is sufficient for the shape to describe a surface shapeof a polygon model or a design CAD (computer aided design) model as ashape model of the target object. Alternatively, a group of points thatare obtained by three-dimensionally measuring the surface of the objectfixed in a measurement environment may be used for the shape.

A parameter holding unit 120 holds, in the memory 11, parametersrelating to an optical image pickup device used in the three-dimensionalmeasurement. The parameters include a lens focal length, a position of aprinciple point, and coefficients of radial direction distortion andcircumferential direction distortion as lens distortion. The parametersmay further include parameters for a triangulation method, such as aposition of a principle point of the image pickup device, a position andattitude of an origin of a camera coordinate system with respect to ameasurement space, a relative position and attitude between the cameraand the projector, and a baseline. Further, in a case where a robot isused, the parameters include a relative position and attitude between anorigin of a robot coordinate system and the origin of the cameracoordinate system, and a relative position and attitude between anorigin of a workspace coordinate system and the origin of the cameracoordinate system. The origin of the workspace coordinate systemindicates a working origin of a workbench. In a state where themeasurement apparatuses are placed in an actual measurement space, theparameters may be calibrated due to a measurement range or layoutrelationship with peripheral devices. It is sufficient for theinformation processing apparatus 100 to calibrate parameters that mayvary among the plurality of parameters. In addition, when all of theparameters are regarded as the calibration targets, the informationprocessing apparatus 100 can detect, as a failure of the device, forexample, deformation of a fixed portion caused by external force. Theinformation processing apparatus 100 holds, by the parameter holdingunit 120, parameter values that have been once calibrated together withcorrespondence with the measurement apparatuses.

A deviation map holding unit 130 uses shape information in the shapeholding unit 110 and the parameters relating to the three-dimensionalmeasurement in the parameter holding unit 120, to hold, in the memory11, the deviation map for each of the parameters and the range image inthe correctly-calibrated state. The information processing apparatus 100sets a value that is obtained by adding a slight value to a parameter ofinterest among the parameters, and does not change the other parameters.The information processing apparatus 100 calculates a difference betweenthe range image generated together with the parameter and the rangeimage that is calculated with no change of the parameters. If theparameter values are different from each other, a range value that isslightly different from an ideal range value is calculated. Suchdifference of the range value differently appears depending on a part ofthe range image. For example, in a case of the deviation in the Xdirection, the deviation appears in the X direction. In the informationprocessing of the first exemplary embodiment, the deviation map when oneof the parameters is slightly varied is prepared to previously calculateimage Jacobian as a state of the image. Accordingly, the captured imagethat is measured while the measurement apparatus is deviated is slightlydeviated from the image (the registration image) in thecorrectly-calibrated state. The information processing apparatus 100 canestimate that which parameter is largely deviated using the correlationwith the deviation map when the deviation range can be linearlyapproximated.

A captured image holding unit 140 holds a range imagethree-dimensionally measured and a captured image in the memory 11. Inthe first exemplary embodiment, the range image is obtained throughrange image measurement by a space encoding method using the camera andthe projector. The projector projects a plurality of image patterns bythe space coding method with a gray code in such a manner that positionsof the respective image patterns projected by the projector can bespecified. The image processing apparatus 100 decodes the gray code,thereby specifying the positions of the respective projected imagepatterns. At this time, the information processing apparatus 100 usesthe parameters of the lens and the camera held by the parameter holdingunit 120.

A calculation unit 150 calculates, as the deviation map, a difference ofeach pixel between the range image (the registration image) previouslyregistered at the time of calibration and the range image, held by thecaptured image holding unit 140, at the time when the apparatus isdeviated. Further, the calculation unit 150 calculates correlationbetween the calculated deviation map and the deviation map for each ofthe parameters held by the deviation map holding unit 130, throughcalculation of an inner product of two pixel values or a cumulativevalue of the square sum of the values. The calculation unit 150 stores,as a list, the correlation values of the respective parameters(deviation map similarity calculation results) in the memory 11.

A presentation unit 160 uses the list of the correlation values of therespective parameters calculated by the calculation unit 150 to presentthe parameters held by the parameter holding unit 120, together withrelevance with the measurement apparatuses of the three-dimensionalmeasurement system. The presentation unit 160 performs presentationusing the display, for example. FIG. 3 is a diagram illustrating anexample of the presentation on the display by the presentation unit 160.The presentation unit 160 may perform presentation to the user by usinggraphical user interface (GUI) elements such as a character string, agraph, a color, and a graphic. Further, the presentation unit 160 mayread aloud the information relating to the calculated correlation valuesusing a speaker through speech synthesis. Moreover, the presentationunit 160 may use a light emitting device such as a light-emitting diode(LED) provided in each of the measurement apparatuses of thethree-dimensional measurement system, and causes the LED of theapparatus having a large parameter deviation to emit a light, therebyperforming presentation to the user.

In addition, the information processing apparatus 100 may transmit acalibration instruction to the measurement apparatus of thethree-dimensional measurement system presented by the presentation unit160, based on a user operation through the input apparatus such as themouse. This makes it possible to promptly start the calibration. A GUIof a “calibration start” button is displayed at a part that indicates anapparatus for calibration in the screen displayed on the display in FIG.3. When the user clicks the button with the mouse, the informationprocessing apparatus 100 actually starts the information processingrelating to the calibration of the corresponding apparatus.

The information presented in FIG. 3 is an example of presentationinformation. The “calibration start” button is an example of an objectthat instructs start of the parameter calibration.

A flow of each processing unit is described with reference to FIGS. 4Aand 4B.

FIG. 4A is a flowchart illustrating an example of information processingof registering, as reference information for deviation detection, theinformation of the parameters at the time when the calibration iscompleted.

In step S100, the information processing apparatus 100 starts thefollowing registration processing after the calibration of each of theparameters is completed. A specific method depending on theconfiguration of each apparatus or a scheme may be executed to performthe calibration. If the parameter is not registered, it may not bepossible to basically perform subsequent processes, and the registrationoperation may be performed one or more times.

In step S110, the parameter holding unit 120 stores the parameters ofthe respective measurement apparatuses of the three-dimensionalmeasurement system in a predetermined region of the memory 11. Theparameters may include items for calibration, such as a lens focallength, distortion coefficients, and the position of the principlepoint, and numerical values depending on the apparatus, such as thenumber of pixels and arrangement of color pixels. The parameters mayfurther include a position and attitude relative to a referencecoordinate system of the measurement environment. In step S110, theparameter holding unit 120 stores, in the predetermined region of thememory 11, the parameters to calculate a three-dimensional position ofthe measurement target. At this time, in a case where the plurality ofmeasurement apparatuses each include a plurality of parameters, theparameter holding unit 120 may store the plurality of parameters in thememory 11 while associating the parameters with the measurementapparatuses. This facilitates identification of correspondence betweencameras and parameters in a case where a plurality of cameras is used.When the calibrated values have been written in a file or a nonvolatilememory, the parameter holding unit 120 may read the calibrated valuesand store the calibrated values in the predetermined region of thememory 11. Moreover, the parameter holding unit 120 may input numericalvalues in response to an input operation by the user through a GUIdisplayed on the display. In a case where the parameters are managed bya network, the parameter holding unit 120 may acquire the parametersfrom a server and store the acquired parameters in the memory 11. Such aconfiguration allows for laborsaving in the input operation of theparameter values.

In step S120, the shape holding unit 110 holds the shape information ofthe measurement target in a predetermined region of the memory 11. Theshape holding unit 110 may hold the shape information of the measurementtarget in a form of values X, Y, Z as three-dimensional information of atwo-dimensional image form. Alternatively, the shape holding unit 110may hold, as a list form, data of distance values corresponding torespective points on the screen that are obtained by randomly ordiscretely sampling the shape information of the measurement target.Since the calibration has been already completed in step S110, the shapeholding unit 110 may acquire the range image from the measurement targetthat is disposed at a registration position, and holds distance pointsof the range image as the shape information in the memory 11. Further,when it is possible to capture an image of the measurement target objectat the same time because of using the camera, the shape holding unit 110may register the image and converts the image into three-dimensionalpositions through post-processing. In this case, the shape holding unit110 may use other calibrated camera to calculate the distance valuethrough a stereo method. In the processing of the first exemplaryembodiment, as the deviation map is not limited to the points on thesurface of the measurement target, the shape holding unit 110 maydetermine an intensity gradient of the captured image to determine alocal feature amount or a distance to the pixel detected as an edge,thereby registering the local feature amount and the distance. Inaddition to the measurement target, the camera may capture an image of atarget such as a jig and a pedestal fixed in the workspace, or maycapture an image of a portion other than the measurement target.Further, the shape holding unit 110 may register these images. In a caseof using a method in which information of the range image is used as itis, a setting of distance values is easily performed because theinformation of the range image is usable even if the shape informationother than the target is not provided.

The position and attitude of the surface of the measurement targetobject in the camera coordinate system observed by the camera may beused as the shape information, besides the registered range image. In acase where a surface shape model of the measurement target such as a CADmodel or a polygon model is usable, the shape holding unit 110 performsconversion of coordinates of each vertex such that the model coordinatesystem of a target model in the camera coordinate system is aligned toan observation position. This allows the shape holding unit 110 toacquire the coordinates of the surface of the measurement target in thecamera coordinate system.

In step S130, the deviation map holding unit 130 holds the deviation mapin a predetermined region of the memory 11. The deviation map is createdfrom the range image when the values of the respective parameters heldin step S110 are slightly varied and the range image when the values ofthe respective parameters are not varied.

In step S140, the series of registration processing ends.

FIG. 4B illustrates a flow of processing to detect which parameter amongthe parameters of the installation position of the measurementapparatus, the pocus position of the lens, and the like, is deviatedwith respect to the registration information.

In step S200, deviation information presentation processing starts. Theprocessing in step S200 can start at the time when the system isactivated or can start in response to an instruction through the GUI atan optional timing at which a user performs a check. In addition, theinformation processing apparatus 100 can detect a yield of theoperation, and when a state that exceeds set fluctuation in a steadystate is detected, the processing in step S200 can start. The processingaccording to the first exemplary embodiment presents whether any of theparameters relating to the respective measurement apparatuses of thethree-dimensional measurement system is deviated. Therefore, if noparameter is deviated, the processing ends with no abnormality as aresult even when the processing starts. Accordingly, the informationprocessing apparatus 100 can periodically execute the followingprocessing using a timer of the system.

In step S210, the calculation unit 150 reads out the captured image ofthe measurement target object from the memory 11 through the capturedimage holding unit 140, thereby preparing a target image to be checked.When the shape holding unit 110 uses the range image to hold the shapeinformation in step S120 described in FIG. 4A, the measurement targetsame as the target in capturing such image may be disposed. In a casewhere a component is the measurement target, it is difficult tocorrectly dispose the component. However, information of a surface plateor a jig located on a background other than the component may be usedwhile the component is removed. The surface plate or the jig may bedisposed in a layout similar to the layout in the registration. Inaddition, the information processing apparatus 100 may store, as a file,periodically-captured images in the memory 11 or the like, and may readout the file of a target image as desired. This makes it possible toperform failure verification in a past state.

In step S220, the calculation unit 150 performs, for example, simulationusing the captured image read in step S210 and the calibrated parametersand generates the deviation map with respect to the registered image(the registration image), to calculate correlation between the deviationmap thus generated and the deviation map held by the deviation mapholing unit 130 in step S130. To calculate the correlation, luminanceinformation of the image is normalized, and luminance comparison of eachpixel is performed. The deviation direction and the image that has beendeviated in parameter in the same direction in advance may have highcorrelation. As the degree of the correlation is calculated as anumerical value, the calculation unit 150 holds the calculation resultof the correlation with the deviation map for each of the parameters.The calculation unit 150 calculates an average value of the correlationvalues as deviation similarity. The higher value of the deviationsimilarity indicates that relevance with the corresponding deviation mapis high. In this example, the method of calculating the correlation isdescribed; however, any index can be basically used as long as the indexcan indicate similarity. The calculation unit 150 can calculate an imagestatics amount or feature of distribution, and determine the similarityusing the moment of the distribution.

In step S230, the presentation unit 160 presents the informationrelating to deviation of the parameters based on the result calculatedin step S220. In a case of presenting the parameters relating to thelens, it is sufficient for the presentation unit 160 to presentdeviation of the parameters of the lens in a form that allows foridentification of the apparatus, such as a character, a picture, afigure, and a machine number. In addition, the presentation unit 160sorts and presents the information in descending order of the degree ofthe correlation value, which allows the user to check the information indescending order of influence to the deviation. This makes it possibleto drastically reduce labor for inspection and calibration. Theinformation processing apparatus 100 can previously store, in the memory11 and the like, information of a range of fluctuation such asoscillation of the apparatus in response to a setting operation of theuser through the input apparatus, etc. In a case where the informationof the fluctuation range is stored in the memory 11 or the like, and thefluctuation is within the range, the presentation unit 160 may notpresent the information of the parameter that corresponds to measurementnoise of the apparatus. This makes it possible to narrow down aninspection target.

In step S240, the processing of presenting the information of theparameter deviation ends. In a case where the parameter is not deviatedas a result of the processing, the information processing apparatus 100can send back a non-abnormality state to repeat the inspection of theparameter deviation on a system schedule. As a result, the system makesit possible to regularly inspect whether the parameter is deviated. Forexample, the information processing apparatus 100 holds, in the memory11, interval information of the schedule set by the user through theinput apparatus. Then, the information processing apparatus 100 canexecute the processing in FIG. 4B with the set interval, based on thesetting information held by the memory 11.

The information processing according to the first exemplary embodimentmakes it possible to rapidly grasp that which parameter is deviated ineach of the measurement apparatuses of the three-dimensional measurementsystem, and to preferentially calibrate the measurement apparatus onwhich the failure occurs, thereby drastically reducing the time used forfault restoration.

Next, a second exemplary embodiment is described. In the calculationunit 150 in the first exemplary embodiment, the parameters areindependent of one another, and the case where one of the parameters isdeviated has been described. In a case where two or more parameters aredeviated and the influence by the respective parameters are independentof one another, the calculation unit 150 can represent the influence ofthe parameter with linear combination. Further, the calculation unit 150calculates a contribution rate to each deviation map using amultivariate analysis method, thereby calculating ratio of an influencewhen the plurality of parameters contributes to the deviation maps. Inthis case, as an example illustrated on the display in FIG. 3, thepresentation unit 160 displays a plurality of parameter candidatestogether with respective specific numerical values of the contributionrate. As a result, it is possible to collectively calibrate theplurality of apparatuses at the same time depending on the influencerange for the calibration, and to further reduce the labor of the userfor the calibration.

In addition, the information processing apparatus 100 can allow the listof the correlation values of the respective parameters to be referredfrom a client of a network as with a web server, in addition to bepresented on the display. This allows for check of the information ofthe parameter deviation from a remote location. As a result, it ispossible to reduce a time to reach the apparatus.

There may be a case where the user may not grasp the procedure of thecorrection and the calibration because of inexperience. In this case,when the user selects, through the input apparatus and the like, theapparatus to be calibrated from the apparatuses presented by thepresentation unit 160, the information processing apparatus 100 canpresent a specific procedure of the correction and the calibration in amanual format. This makes it possible to reduce mistakes and the like inthe calibration procedure by the user. For example, the presentationunit 160 may display a page in which a figure and the procedure aredescribed on a web browser. In addition, the presentation unit 160 maypresent the specific procedure with animation. Any informationpresentation formats may be used as long as the presentation allows theuser to understand the procedure.

The deviated direction of the measurement apparatus configuring thethree-dimensional measurement system is calculated usingpositive/negative values in the correlation calculation. The deviateddirection is represented by a coordinate system depending on theapparatus. In view of this, for example, in a case of a camera disposedupside down, a correction direction of the camera is difficult to beunderstood because of the deviated direction is not intuitivelycoincident with an actual direction. Therefore, the calculation unit 150converts the coordinate system of each disposed apparatus into aworkspace coordinate system. The presentation unit 160 then presents thedeviated direction in the workspace coordinate system to the user. Thisallows the user to intuitively grasp the correction direction to correctthe deviation of the apparatus, which makes it possible to performcorrection accurately and to reduce the execution time. Further, sincethe calculation unit 150 also calculates the deviation degree from thecorrelation values, it is possible to present a correction degree.

FIG. 5 is a diagram illustrating an example of a system configuration ofthe three-dimensional measurement system. As illustrated in FIG. 5, theabove-described processing of the exemplary embodiments is effectivewhen the information processing apparatus 100 and a robot controller 270are combined to perform an assembling process of a component. In FIG. 5,a camera and an installation parameter 210 thereof, a projector 220 andan installation parameter 230 thereof, and a robot 260 and aninstallation parameter 280 thereof are targets.

The information processing apparatus 100 registers, as the deviationmap, information of a reference coordinate 245 in a workspace 240 and acalibration jig 250 on the workspace 240. The information processingapparatus 100 presents the state of the parameter using a display 170.In addition, the information processing apparatus 100 controls the robot260 in order to perform parameter calibration using the robot controller270. In a case of three-dimensional measurement of a machine vision usedin bin picking or the like, the calibration board may be held by a handof the robot 260 in some cases. In this case, it is possible to causethe robot 260 to pick up an image for the correction and the calibrationeven not by an operator. To perform robot calibration processing, theinformation processing apparatus 100 controls the robot controller 270to move the robot 260 to a predetermined position, as an installationcondition of the apparatus is held by the parameter holding unit 120.The information processing apparatus 100 then controls the robotcontroller 270 to correct deviation of the apparatus based on theinformation of the deviation direction and the deviation degreedescribed above. After that, the robot 260 holds the calibration jig 250and disposes the calibration jig 250 so as to be captured in apredetermined imaging direction a predetermined number of times, andthen the calibration is performed. Actually, the user instructs anoperation through the presentation unit 160 and the like inconsideration of balance with other operations. This is effective toimprove efficiency of the operation instruction. The robot controller270 is an example of a control apparatus to control the robot.

Hereinbefore, the exemplary embodiments of the present disclosure aredescribed in detail. However, the present disclosure is not limited tosuch specific exemplary embodiments. A portion or all of the functionalconfiguration of the information processing apparatus 100 in FIG. 2 canbe mounted as a hardware configuration on the information processingapparatus 100. Some or all of the holding units illustrated in FIG. 2may not store the data and the like in the memory 11, and can store thedata and the like in a predetermined memory of another apparatus that iscommunicable with the information processing apparatus 100.

According to the processing of the respective exemplary embodimentsdescribed above, it is possible to reduce labor for the parametercalibration. In addition, it is possible to easily limit a portion to berecalibrated by presenting the information such as the parametersrelating to identification of difference cause to the user.Consequently, it is possible to drastically reduce a time to return thesystem to a normal system.

Other Embodiments

Embodiment(s) of the present disclosure can also be realized by acomputerized configuration of a system or apparatus that reads out andexecutes computer executable instructions (e.g., one or more programs)recorded on a storage medium (which may also be referred to more fullyas a ‘non-transitory computer-readable storage medium’) to perform thefunctions of one or more of the above-described embodiment(s) and/orthat includes one or more circuits (e.g., application specificintegrated circuit (ASIC)) for performing the functions of one or moreof the above-described embodiment(s), and by a method performed by thecomputerized configuration of the system or apparatus by, for example,reading out and executing the computer executable instructions from thestorage medium to perform the functions of one or more of theabove-described embodiment(s) and/or controlling the one or morecircuits to perform the functions of one or more of the above-describedembodiment(s). The computerized configuration may comprise one or moreprocessors and one or more memories (e.g., central processing unit(CPU), micro processing unit (MPU)), and may include a network ofseparate computers or separate processors to read out and execute thecomputer executable instructions. The computer executable instructionsmay be provided to the computer, for example, from a network or thestorage medium. The storage medium may include, for example, one or moreof a hard disk, a random-access memory (RAM), a read only memory (ROM),a storage of distributed computing systems, an optical disk (such as acompact disc (CD), digital versatile disc (DVD), or Blu-ray Disc (BD)™),a flash memory device, a memory card, and the like.

While the present disclosure has been described with reference toexemplary embodiments, it is to be understood that the disclosure is notlimited to the disclosed exemplary embodiments. The scope of thefollowing claims is to be accorded the broadest interpretation so as toencompass all such modifications and equivalent structures andfunctions.

This application claims the benefit of priority from Japanese PatentApplication No. 2016-230329, filed Nov. 28, 2016, which is herebyincorporated by reference herein in its entirety.

What is claimed is:
 1. An information processing apparatus, comprising:a first generation unit configured to generate deviation data for eachof parameters of respective apparatuses relating to three-dimensionalmeasurement; a second generation unit configured to generate deviationdata based on a captured image of a target acquired using the parametersand a registration image of the target; an acquiring unit configured toacquire similarity between the deviation data generated by the secondgeneration unit and the deviation data for each of the parametersgenerated by the first generation unit; and a presentation unitconfigured to present presentation information relating to calibrationof the parameters based on the similarity.
 2. The information processingapparatus according to claim 1, wherein the first generation unit variesa value for each of the parameters, and generates the deviation data foreach of the parameters associated with variation based on a range imageof an object that is acquired using varied values of the respectiveparameters and a range image of an object that is acquired usingunvaried values of the respective parameters.
 3. The informationprocessing apparatus according to claim 1, wherein the presentation unitpresents information of a parameter relating to the calibration amongthe parameters as the presentation information.
 4. The informationprocessing apparatus according to claim 3, wherein the presentation unitpresents information of the parameters relating to the calibration inorder of the similarity as the presentation information.
 5. Theinformation processing apparatus according to claim 1, wherein thepresentation unit further presents the deviation data for each parameteras the presentation information.
 6. The information processing apparatusaccording to claim 1, wherein the presentation unit further presents thesimilarity as the presentation information.
 7. The informationprocessing apparatus according to claim 1, wherein the presentation unitfurther presents a deviation direction based on the deviation data foreach parameter as the presentation information.
 8. The informationprocessing apparatus according to claim 1, wherein the presentation unitfurther presents information of a calibration procedure as thepresentation information.
 9. The information processing apparatusaccording to claim 1, wherein the parameters of the respectiveapparatuses relating to the three-dimensional measurement include aparameter of a robot.
 10. The information processing apparatus accordingto claim 9, further comprising a control unit configured to perform acalibration instruction to a control apparatus based on deviation datafor the parameter of the robot, the control apparatus controlling therobot.
 11. The information processing apparatus according to claim 1,wherein the presentation unit displays a screen including thepresentation information.
 12. The information processing apparatusaccording to claim 11, further comprising a processing unit, wherein thescreen further includes an object for issuing an instruction ofcalibration start of the parameter, and the processing unit startsprocessing relating to the calibration of the parameter with respect tothe apparatus when the object is selected.
 13. An information processingmethod executed by an information processing apparatus, the methodcomprising: performing first generation to generate deviation data foreach of parameters of respective apparatuses relating tothree-dimensional measurement; performing second generation to generatedeviation data based on a captured image of a target acquired using theparameters and a registration image of the target; acquiring similaritybetween the deviation data generated by the second generation and thedeviation data for each of the parameters generated by the firstgeneration; and presenting presentation information relating tocalibration of the parameters based on the similarity.
 14. Anon-transitory computer-readable storage medium storing a program tocause a computer to execute a method comprising: performing firstgeneration to generate deviation data for each of parameters ofrespective apparatuses relating to three-dimensional measurement;performing second generation to generate deviation data based on acaptured image of a target acquired using the parameters and aregistration image of the target; acquiring similarity between thedeviation data generated by the second generation and the deviation datafor each of the parameters generated by the first generation; andpresenting presentation information relating to calibration of theparameters based on the similarity.